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Hi,
there is currrently no way to re-show the canvas once it's closed. You do, however, have a handle to a Java JFrame and can try to call its methods using the JPL interface, though I don't know if there is a method that revives a closed window.
http://www.swi-prolog.org/packages/jpl/prolog_api/overview.html#jpl_call4
best, Moritz